Posture vehicle
The present invention relates to the technical field of electric vehicles, and provides an posture vehicle, which comprises a vehicle body, two wheelers pivoted to the vehicle body, pedals installed on the vehicle body, and two driving components installed in the vehicle body and driving the two wheelers to rotate driven by the pedals. The driving components and the wheelers are in the same operating plane. Namely, in a using process, the user treads on the wheelers, thereby eliminating interference of a balance state of the vehicle body to an output signal of the driving components, and enhancing the sensitivity of the driving components for judging the balance signal.
The application claims priority to a Chinese patent application with application number of 201610749689.7 and titled as “posture vehicle” filed on Aug. 29, 2016 to Patent Office of the People's Republic of China, disclosures of which are incorporated herein by reference in their entireties.
TECHNICAL FIELDThe present invention relates to the technical field of electric vehicles, and more specifically, to a posture vehicle.
BACKGROUNDA posture vehicle is also called as a motion sensing vehicle or an electric personal assistive mobility device. The posture vehicle has an operation principle as follows: change of an posture of a vehicle body is detected by using a gyroscope and an acceleration sensor inside the vehicle body; and a motor is accurately driven by using a servo control system to ensure balance of the vehicle body.
At present, a control mode of the posture vehicle is as follows: a control pedal is installed on a pedaling region of the vehicle body; advancing, backing, turning and stop of the vehicle body are completed by a user through different applied forces on a front end and a rear end of the control pedal, i.e., a “foot control” mode. However, the control pedal can only move along with the vehicle body but fails to move relative to the vehicle body, so induction sensitivity is low, causing that actual operation and control of the user are difficult and balance experience is poor. Especially, it is difficult to keep stable driving of the vehicle body in a process of getting on the vehicle.
SUMMARYIn conclusion, the purpose of embodiments of the present invention is to provide an posture vehicle, in order to overcome problems of difficult operation and low induction sensitivity in using the control pedal to operate and control the posture vehicle in the prior art.
Embodiments of the present invention are realized as follows:
An posture vehicle comprises: a vehicle body, two wheels pivoted to the vehicle body, pedals installed on the vehicle body, and two driving components installed in the vehicle body which drives the wheels to rotate through the pedals. Wherein each of the wheel comprises a stator fixing shaft pivoted to the vehicle body and a rotor-driven wheel connected to the stator fixing shaft. Each of two driving components is electrically connected to its respective rotor-driven wheel. Two driving components are installed in parallel with an certain interval in the vehicle body and respectively fixed and connected to the stator fixing shafts of their corresponding rotor-driven wheels. When there is an inclined angle generated between each driving component and the horizontal plane, a driving signal is output to the corresponding rotor-driven wheel so that the driving components tend to achieve a dynamic balancing status.
Further, the driving components comprise a horizontal plate coupled with the driving components, and the horizontal plate is fixed on and connected to the stator fixing shaft in the vehicle body, two elastic pieces respectively installed in the pedal at the front end and at the rear end of the horizontal plate which touch against an interior wall of the vehicle body when there is an inclined angle between the horizontal plate and the horizontal plane, and a control system adapted with the horizontal plate, outputs a driving signal to the rotor-driven wheels when there is an inclined angle between the horizontal plate and the horizontal plane. The control system is electrically connected to the rotor-driven wheels.
Further, the driving components comprise a horizontal plate coupled with the driving component, and the horizontal plate is fixed on and connected to the stator shaft in the vehicle body, two elastic pieces respectively installed in the vehicle body which touch against the front end and the rear end of the horizontal plate when there is an inclined angle between the horizontal plate and the horizontal plane, and a control system, adapted with the horizontal plate, outputs a driving signal to the rotor-driven wheels when there is an inclined angle between the horizontal plate and the horizontal plane. The control system is electrically connected with the rotor-driven wheels.
Further, a first supporting seat for supporting the stator fixing shaft is installed in the vehicle body. A first bearing is installed in the first supporting seat. The stator fixing shaft is installed throughout the first bearing.
Further, a second supporting seat for supporting the stator fixing shaft is also installed in the vehicle body. The second supporting seat and the first supporting seat are oppositely installed. A second bearing is installed in the second supporting seat. The stator fixing shaft is respectively installed through the first bearing and the second bearing and is between the first supporting seat and the second supporting seat.
Further, two rotor-driven wheels are respectively installed on both sides of the vehicle body, and are mutually parallel. Two driving components are located between the two rotor-driven wheels.
Further, the two rotor driving wheels are installed in the vehicle body, and present an acute angle. Two driving components are respectively located at outer sides of the two rotor-driven wheels.
Further, the vehicle body comprises a top housing and a bottom housing buckled vertically. Pedals are two flexible pedal regions installed on the top housing and corresponding to the driving components vertically.
Further, the flexible pedal regions are provided with skid-proof grains.
Compared with the prior art, in the posture vehicle provided in embodiments of the present invention, each wheeler comprises a stator fixing shaft pivoted to the vehicle body and a rotor-driven wheel connected to the stator fixing shaft. The vehicle body can rotate around the rotor-driven wheel relative to the stator fixing shaft. The driving components are fixedly connected to the stator fixing shafts. The driving components can swing with the stator fixing shafts opposite to the vehicle body. In this way, the driving components and the wheels are in the same operating plane. Namely, in a using process, a user treads on the wheelers, thereby eliminating interference of a balance state of the vehicle body to an output signal of the driving components, i.e., an entire driving mode of the posture vehicle is only stimulated by a balance signal source of the driving components relative to the horizontal plane. Therefore, the user only needs to operate and control the driving components so as to generate an angle relative to the horizontal plane, thereby sending a driving signal to the corresponding rotor-driven wheel to obtain a corresponding travel state. This connection mode enhances the sensitivity of the driving components for judging the balance signal, so that the user is easier to operate and especially easier to get on the vehicle, thereby simplifying the vehicle body structure and reducing production cost.
To clarify purposes, technical solutions as well as advantages of the present invention clear, the present invention will be further described in detail below in combination with drawings and embodiments. It should be understood that specific embodiments described herein are only used for explaining the present invention, but not to limit the present invention.
It should be noted that when an element is expressed as “fixed to” or “installed on” another element, the element can be directly on another element or indirectly on another element. When an element is expressed as “connected with” another element, the element can be directly connected with another element or indirectly connected with another element.
It should also be noted that words of directions such as left, right, upper, lower, top, bottom and the like in the present embodiment are only relative concepts to refer to a normal use state of the product, and should not be considered as a limit for the present invention.
The application details of the present invention are described below in combination with specific embodiments.
A posture vehicle comprises: a vehicle body, two wheels pivoted to the vehicle body, pedals installed on the vehicle body, and two driving components installed in the vehicle body which drives the wheels to rotate through the pedals. Wherein each of the wheels comprises a stator fixing shaft pivoted to the vehicle body and a rotor-driven wheel connected to the stator fixing shaft. Each of two driving components is electrically connected to its respective rotor-driven wheel. Two driving components are installed in parallel with a certain interval in the vehicle body and respectively fixed and connected to the stator fixing shafts of their corresponding rotor-driven wheels. When there is an inclined angle generated between each driving component and the horizontal plane, a driving signal is output to the corresponding rotor-driven wheel so that the driving components tend to achieve a dynamic balancing status.
A posture vehicle provided in embodiments of the present invention has the following operation principle: each wheel comprises a stator fixing shaft pivoted to the vehicle body and a rotor-driven wheel connected to the stator fixing shaft. The vehicle body can rotate around the stator fixing shaft relative to the rotor driving wheel. The driving components are fixedly connected to the stator fixing shafts. The driving components can swing with the stator fixing shafts opposite to the vehicle body. In this way, the driving components and the wheels are in the same operating plane. Namely, in a using process, a user treads on the wheelers, thereby eliminating interference of a balance state of the vehicle body to an output signal of the driving components, i.e., an entire driving mode of the posture vehicle is only stimulated by a balance signal source of the driving components relative to the horizontal plane. Therefore, the user only needs to operate and control the driving components so as to generate an angle relative to the horizontal plane, thereby sending a driving signal to the corresponding rotor driving wheel to obtain a corresponding travel state. This connection mode enhances the sensitivity of the driving components for judging the balance signal, so that the user is easier to operate and especially easier to get on the vehicle, thereby simplifying the vehicle body structure and reducing production cost.
Embodiment 1By referring to
Further, by referring to
Or, not shown in the figure, the difference from the above embodiment is that two elastic pieces 32 are installed in the vehicle body 1 and when the horizontal plate 31 rotates around the stator fixing shaft 21, the front end or the rear end of the horizontal plate 31 touches against the elastic pieces 32 to limit a rotating angle of the horizontal plate 31 relative to the vehicle body 1.
Further, by referring to
Or, by referring to
Further, by referring to
Specifically, by referring to
By referring to
the two rotor-driven wheels 22′ are installed in the vehicle body 1′, and present an acute angle between each wheels. Two driving components 3′ are respectively located at outer sides of the two rotor-driven wheels 22′. Namely, a spacing between upper ends of the two rotor-driven wheels 22′ is larger than a spacing between lower ends of the two rotor-driven wheels 22′. In this way, a spacing between the two rotor-driven wheels 22′ is reduced so that a turning radius of the posture vehicle is smaller, which enables the vehicle suitable for travel in a narrow space.
Contents not described in the present embodiment are the same as those of embodiment 1, and are not repeated herein.
Embodiment 3By referring to
When the user inclines the body forwards to enable the two driving components 540 to incline forwards with basically a same angle, the two driving components 540 respectively control the two hub motors 520 to rotate forwards basically at a same speed, so that the posture vehicle 500 moves forwards entirely. When the user inclines the body backwards to enable the two driving components 540 to incline backwards with basically a same angle, the two driving components 540 respectively control the two hub motors 520 to rotate backwards basically at a same speed, so that the posture vehicle 500 moves backwards entirely. When the user enables the inclined angle of the left driving component 540 to be larger than the inclined angle of the right driving component 540, rotating speed of the left hub motor 520 is larger than rotating speed of the right hub motor 520 and then the posture vehicle 500 turns right as a whole. When the user enables the inclined angle of the right driving component 540 to be larger than the inclined angle of the left driving component 540, rotating speed of the right hub motor 520 is larger than rotating speed of the left hub motor 520 and then the posture vehicle 500 turns left as a whole.
By referring to
By referring to
By referring to
By referring again to
In the present embodiment, two hub motors 520 are respectively installed on the left side and the right side of the vehicle body 510. In other embodiments, two hub motors 520 can also be oppositely installed in the vehicle body 510, and are located between two driving components 540. In this way, the spacing between the two hub motors 520 is shortened, so that a turning radius of the posture vehicle 500 is smaller, which is suitable for travel in a narrow space. In this case, two hub motors 520 are located between both feet of the user during use. To avoid friction between the hub motors 520 and legs of the user, two hub motors 520 can be obliquely installed. Axes of the two hub motors 520 are intersected and form an included angle, so that a spacing between upper ends of the two hub motors 520 is larger than a spacing between lower ends of the two hub motors 520. In this way, more space is reserved for a user's legs, thereby avoiding friction between the hub motors 520 and legs of the user, and enhancing safety.
Embodiment 4By referring to
In the above posture vehicle 600, the vehicle body 610 adopts an integral structure. The pedals 6423 are fixed and connected to the swinging brackets 6421. The swinging bracket 6421 and the connecting shaft 641a are connected in a relative non-rotation manner. The pedals 6423 and the swinging brackets 6421 can swing around the axes of the connecting shafts 641a relative to the vehicle body 610. When the pedals 6423 rotate around the axes of the connecting shafts 641a relative to the vehicle body 610, the control board 6431 drives the corresponding wheel 620 to rotate. In this way, the structure of the posture vehicle 600 is smooth, operation is easy, and use safety is good.
By referring to
Specifically, the hub motor 641 are installed in the corresponding wheel 620 and have connecting shafts 641a. The connecting shafts 641a extend to the inner space 610a of the vehicle body 610 and can be rotatably installed on the supporting frame 630. The control component 642 comprises a swinging bracket 6421 and a pedal 6423 for treading on. The swinging bracket 6421 and the connecting shaft 641a are connected in a relative non-rotation manner, and are connected and fixed above the swinging bracket 6421. Two pedal empty slots 6103 respectively corresponding to two pedals 6423 are formed in a surface of the upper shell 6101. The pedals 6423 are installed in the pedal empty slots 6103 and at least partially installed through the surface of the upper shell 6101. It is easy to understand that the wheels 620 are rotatably installed on the supporting frame 630 of the vehicle body 610 through the connecting shafts 641a of the hub motors 641. Driven by the hub motors 641, the wheels 620 rotate and fore-and-aft movement and left-and-right turning of the vehicle body 610 are realized. The connecting shafts 641a are rotatably installed on the supporting frames 630. The swinging bracket 6421 and the connecting shaft 641a are connected in a relative non-rotation manner. Namely, the pedals 6423 and the swinging brackets 6421 can swing forward and backward around the axes of the connecting shafts 641a relative to the vehicle body 610 by a preset angle. Then, the rotating speed of the hub motors 641 is correspondingly controlled according to the change of the swinging angle of the pedals 6423.
The driving components 643 comprise a control board 6431 and a plurality of sensors (not shown in the figure). The control board 6431 is electrically connected with a plurality of sensors, a power supply 650 and corresponding hub motors 641. The control board 6431 can be any existing circuit board capable of controlling the corresponding hub motors 641 to drive the corresponding wheels 620 to rotate according to sensing signals transmitted by the sensors. The plurality of sensors are, but not limited to gyroscopes and acceleration sensors. It is deserved to mention that the posture vehicle 600 provided in the present embodiment adopts a self-balance principle; the pedals 6423 are installed by a preset angle through the gyroscopes; the pedals 6423 are automatically reset when not tread on through the connecting shafts 641a of the hub motors 641, so that the surfaces of the pedals 6423 are basically parallel with a horizontal plane; the acceleration sensors and the gyroscopes jointly detect the movement state of the posture vehicle 600; and the control board 6431 receives sensing signals of the acceleration sensors and the gyroscopes to control whether the hub motors 641 change states, to realize acceleration or deceleration.
By referring to
By referring to
By referring to
By referring to
By referring to
By referring to
By referring to
By referring to
In the posture vehicle provided in embodiments of the present invention, each wheel comprises a stator fixing shaft pivoted to the vehicle body and a rotor-driven wheel connected to the stator fixing shaft. The vehicle body can rotate around the rotor-driven wheel relative to the stator fixing shaft. The driving components are fixed and connected to the stator fixing shafts. The driving components can swing with the stator fixing shafts relative to the vehicle body. In this way, the driving components and the wheels are in the same operating plane. Namely, in a using process, the user treads on the wheels, thereby eliminating interference of a balance state of the vehicle body to an output signal of the driving components, i.e., an entire driving mode of the posture vehicle is only stimulated by a balance signal source of the driving components relative to the horizontal plane. Therefore, the user only needs to operate and control the driving components so as to generate an angle relative to the horizontal plane, thereby sending a driving signal to the corresponding rotor-driven wheel to obtain a corresponding travel state. This connection mode enhances the sensitivity of the driving components for judging the balance signal, so that the user is easy to operate and especially easy to get on the vehicle, the vehicle body structure is simplified and production cost is reduced.
In the posture vehicle provided in embodiments of the present invention, the driving components are connected with the supporting shafts. Because the driving components can rotate around axes of the supporting shafts relative to the vehicle body with an external force, the driving components and the vehicle body can rotate in a mutually independent way. Through the openings formed in the vehicle body, both feet of the user can directly control the driving components to incline forwards or backwards. As the driving components do not need to rotate with the vehicle body, rotation of the driving components is sensitive, and then a control signal is sent sensitively to enable the motors to change rotation states rapidly. In addition, because rotating axes of the driving components are coaxial with operation axes of the motors, an inclined angle of the driving components can be converted into the control signal of the motors accurately and simply, and then rotation of the motors is accurate, so that the user is convenient to operate and especially easier to get on the vehicle, the vehicle body structure is simplified and production cost is reduced.
The above contents are only preferred embodiments of the present invention, but are not intended to limit the present invention. Any modification, equivalent replacement, improvement and the like made within spirits and principles of the present invention shall be included in the protection scope of the present invention.
Claims
1. A posture vehicle, comprising:
- a vehicle body;
- two wheels pivoted to the vehicle body;
- pedals installed on the vehicle body; and
- two driving components installed in the vehicle body which drives the wheels to rotate through the pedals;
- wherein each of the wheels comprises a stator fixing shaft pivoted to the vehicle body and a rotor-driven wheel connected to the stator fixing shaft;
- each of two driving components is electrically connected to its respective rotor-driven wheel;
- two driving components are installed in parallel with an certain interval in the vehicle body and respectively fixed and connected to the stator fixing shafts of their corresponding rotor-driven wheels; and
- when there is an inclined angle generated between each driving component and the horizontal plane, a driving signal is output to the corresponding rotor-driven wheel so that the driving components tend to achieve a dynamic balancing status.
2. The posture vehicle according to claim 1, wherein the driving components comprise a horizontal plate coupled with the driving components and the horizontal plate is fixed on and connected to the stator fixing shaft in the vehicle body;
- two elastic pieces respectively installed in the pedal at the front end and at the rear end of the horizontal plate which touch against an interior wall of the vehicle body when there is an inclined angle between the horizontal plate and the horizontal plane;
- a control system, adapted with the horizontal plate, outputs a driving signal to the rotor-driven wheels when there is an inclined angle between the horizontal plate and the horizontal plane; and
- the control system is electrically connected to the rotor-driven wheels.
3. The posture vehicle according to claim 2, wherein a first supporting seat for supporting the stator fixing shaft is installed in the vehicle body; a first bearing is installed in the first supporting seat; and the stator fixing shaft is installed throughout the first bearing.
4. The posture vehicle according to claim 3, wherein a second supporting seat for supporting the stator fixing shaft is further installed in the vehicle body; the second supporting seat and the first supporting seat are oppositely installed; a second bearing is installed in the second supporting seat; and the stator fixing shaft is respectively installed through the first bearing and the second bearing and is between the first supporting seat and the second supporting seat.
5. The posture vehicle according to claim 2, wherein two rotor-driven wheels are respectively installed at both sides of the vehicle body, and are mutually parallel; and two driving components are located between the two rotor-driven wheels.
6. The posture vehicle according to claim 2, wherein the two rotor-driven wheels are installed in the vehicle body, and present an acute included angle; and two driving components are respectively located at outer sides of the two rotor driving wheels.
7. The posture vehicle according to claim 2, wherein the vehicle body comprises a top housing and a bottom housing which are buckled vertically; and the pedals are two flexible pedal regions installed on the top housing and are corresponding to the driving components vertically.
8. The posture vehicle according to claim 7, wherein the flexible pedal regions are provided with skid-proof grains.
9. The posture vehicle according to claim 1, wherein the driving components comprise a horizontal plate coupled with the driving components and the horizontal plate is fixed on and connected to the stator fixing shaft in the vehicle body; two elastic pieces respectively installed in the vehicle body which touch against the front end and the rear end of the horizontal plate when there is an inclined angle between the horizontal plate and the horizontal plane, and a control system, adapted with the horizontal plate, outputs a driving signal to the rotor-driven wheels when there is an inclined angle between the horizontal plate and the horizontal plane; and the control system is electrically connected with the rotor-driven wheels.
10. The posture vehicle according to claim 9, wherein a first supporting seat for supporting the stator fixing shaft is installed in the vehicle body; a first bearing is installed in the first supporting seat; and the stator fixing shaft is installed throughout the first bearing.
11. The posture vehicle according to claim 10, wherein a second supporting seat for supporting the stator fixing shaft is further installed in the vehicle body; the second supporting seat and the first supporting seat are oppositely installed; a second bearing is installed in the second supporting seat; and the stator fixing shaft is respectively penetrated through the first bearing and the second bearing and is erected between the first supporting seat and the second supporting seat.
12. The posture vehicle according to claim 9, wherein two rotor-driven wheels are respectively installed on both sides of the vehicle body, and are mutually parallel; and two driving components are located between the two rotor-driven wheels.
13. The posture vehicle according to claim 9, wherein the two rotor-driven wheels are installed in the vehicle body, and present an acute included angle; and two driving components are respectively located at outer sides of the two rotor-driven wheels.
14. The posture vehicle according to claim 9, wherein the vehicle body comprises a top housing and a bottom housing which are buckled vertically; and the pedals are two flexible pedal regions installed on the top housing and are corresponding to the driving components vertically.
15. The posture vehicle according to claim 14, wherein the flexible pedal regions are provided with skid-proof grains.
16. The posture vehicle according to claim 1, wherein two rotor-driven wheels are respectively installed at both sides of the vehicle body, and are mutually parallel; and two driving components are located between the two rotor-driven wheels.
17. The posture vehicle according to claim 1, wherein the two rotor-driven wheels are installed in the vehicle body, and present an acute angle; and two driving components are respectively located at outer sides of the two rotor-driven wheels.
18. The posture vehicle according to claim 1, wherein the vehicle body comprises a top housing and a bottom housing which are buckled vertically; and the pedals are two flexible pedal regions installed on the top housing and are corresponding to the driving components vertically.
19. The posture vehicle according to claim 18, wherein the flexible pedal regions are provided with skid-proof grains.
7178614 | February 20, 2007 | Ishii |
7363993 | April 29, 2008 | Ishii |
7481291 | January 27, 2009 | Nishikawa |
8225891 | July 24, 2012 | Takenaka |
8738278 | May 27, 2014 | Chen |
9101817 | August 11, 2015 | Doerksen |
9376155 | June 28, 2016 | Ying |
9400502 | July 26, 2016 | Kamen |
9452345 | September 27, 2016 | Doerksen |
9604692 | March 28, 2017 | Kim |
9745013 | August 29, 2017 | Wood |
9840302 | December 12, 2017 | Zeng |
9896146 | February 20, 2018 | Lu |
9999827 | June 19, 2018 | Wood |
10040503 | August 7, 2018 | Chen |
10059397 | August 28, 2018 | Zheng |
10112680 | October 30, 2018 | Doerksen |
10144478 | December 4, 2018 | Ying |
10167036 | January 1, 2019 | Ying |
10252724 | April 9, 2019 | Edney |
10286974 | May 14, 2019 | Yang |
10293243 | May 21, 2019 | Doerksen |
20060260862 | November 23, 2006 | Nishikawa |
20100114468 | May 6, 2010 | Field |
20120166048 | June 28, 2012 | Inoue |
20130238231 | September 12, 2013 | Chen |
20140326525 | November 6, 2014 | Doerksen |
20150096820 | April 9, 2015 | Strack |
20160129963 | May 12, 2016 | Ying |
20170183053 | June 29, 2017 | Zeng |
Type: Grant
Filed: Nov 16, 2017
Date of Patent: Mar 10, 2020
Patent Publication Number: 20180072367
Assignee: SHENZHEN DYNAMIC BALANCE TECHNOLOGY CO., LTD. (Shenzhen)
Inventor: Lifang Li (Yueyang)
Primary Examiner: Jeffrey J Restifo
Application Number: 15/815,226
International Classification: B62K 11/00 (20060101); B62K 23/08 (20060101); A63C 17/01 (20060101); A63C 17/12 (20060101);